\(\bullet \)  RGB-only Enc/Dec, but constrained by a depth estimation loss on the reconstructed images.  We extended the indirect depth recovery of the RGB-only framework,
by imposing a depth loss on the reconstructed RGB images during training.
To impose depth reconstruction criteria on an RGB-only Decoder, we mounted atop it the pre-trained MiDaS depth estimation network [1]}, \(\mathcal {M}\left(\cdot \right)\) . Although the Decoder itself does not produce any depth map, combining the resulting MiDaS depth map with the decoder's RGB output provides an RGBD output in total. We experimented with two types of losses: (i) the standard loss of the RGBD framework, \(\mathcal {L}_{s}\) , which includes also depth perceptual similarity \(\mathcal {L}_{perceptual}\)  (Eq. REF ), and (ii) a simple \(\ell _{1}\) -loss on the depth maps, \(\left\Vert {\normalcolor \mathcal {M}\left(\hat{s}_{rgb}\right)-\mathcal {M}\left(s_{rgb}\right)}\right\Vert _{1}\) .
